JP2011079351A - Motorcycle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motorcycle which can increase a period during which an electric braking device is operated even under a state where the voltage of an electricity accumulator such as a battery is low. <P>SOLUTION: The motorcycle includes: an electricity accumulator 51 supplying electric power to driving devices required for driving and to non-driving devices; a voltage detector 52 detecting the voltage of the electricity accumulator 51; and a power supply controller 49. The non-driving devices include: an electric braking device electrically driven to assist braking; and non-driving electromotive devices other than the electric braking device. The power supply controller 49 inhibits the electric power from being supplied to at least one out of the non-driving electromotive devices 56, 55, 57, 58 other than the electric braking device, when the voltage of the electricity accumulator 51 which is detected by the voltage detector 52 is not more than a predetermined first voltage V1. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motorcycle including an electric brake device that performs an anti-lock operation or the like.

  2. Description of the Related Art Electric brake devices that assist braking by electrically controlling a brake in an automobile are known. In such an electric brake device, configurations as disclosed in Patent Document 1 and Patent Document 2 described below are disclosed as means for securing braking force even when the voltage of the battery decreases. That is, in Patent Document 1, by securing the braking force at the time of low voltage by advancing the operation timing of the electric brake device, in Patent Document 2, by not changing the braking force in a region where the operation amount change is small, The braking force at low voltage is secured.

  On the other hand, motorcycles having an anti-lock brake system that performs an anti-lock operation have been developed.

JP-A-2005-280568 JP 2000-62589 A

  FIG. 7 is a diagram illustrating fluctuations in battery voltage during the antilock operation. FIG. 7A shows a case where the battery voltage is in a normal state, and FIG. 7B shows a case where the battery voltage is in a low voltage state. In FIG. 7, the antilock operation is started at time t1. As shown in FIG. 7, since more inrush current flows at the start of the anti-lock operation than when the operation is continued, a higher voltage (minimum braking voltage VB necessary for the anti-lock operation) is required. That is, as shown in FIG. 7A, at the start of the antilock operation, there occurs a state in which the battery voltage suddenly decreases although it is instantaneous. Therefore, as shown in FIG. 7B, in a state where the battery voltage V is reduced due to deterioration of the battery or use of other electrical components, the minimum braking voltage VB necessary for the antilock operation should be secured. May not be possible.

  With regard to such a problem, the configurations of Patent Documents 1 and 2 are based on the premise that the minimum braking voltage VB necessary for the antilock operation is obtained, and thus the above problem cannot be solved.

  The present invention has been made to solve the above-described problems, and provides a motorcycle capable of extending the operable period of an electric brake device even when the voltage of a power storage device such as a battery is lowered. With the goal.

  One aspect of a motorcycle according to the present invention includes a power storage device that supplies power to a traveling system device and a non-traveling system device that are necessary for traveling, a voltage detector that detects a voltage of the power storage device, and power supply control. The non-traveling system device includes an electric brake device that assists braking by electric drive, and another non-traveling system electric device other than the electric brake device, and the power supply controller includes the voltage When the voltage of the power storage device detected by the detector becomes equal to or lower than a predetermined first voltage, the power supply to at least one predetermined other non-traveling electric device is cut off.

  According to the above configuration, when the voltage of the power storage device becomes a low voltage, power supply to a predetermined non-traveling electric device that is not directly related to the traveling of the motorcycle other than the electric brake device is interrupted. The operable period of the brake device can be lengthened.

  The electric brake device includes an anti-lock operation unit that repeats a braking state and a non-braking state, and an interlock that generates a braking force on either one of the front and rear wheels when the braking force is generated on either one of the front and rear wheels. And the power supply controller is configured to limit the operation of the interlocking braking unit when the voltage of the power storage device detected by the voltage detector is equal to or lower than a predetermined second voltage. May be.

  According to this, when the voltage of the power storage device becomes a low voltage, the interlocking braking operation is limited in the electric brake device, so that the operation voltage of the antilock operation unit is secured and the antilock operation can be activated. The period can be lengthened.

  Further, the first voltage may be a voltage equal to or higher than the second voltage.

  In this case, when the voltage of the power storage device becomes equal to or lower than the first voltage, the power supply to at least one predetermined other non-travel electric device is interrupted, and further, the voltage of the power storage device is equal to or lower than the second voltage equal to or lower than the first voltage. Then, the interlocking braking operation is limited. In other words, when the operating voltage of the electric brake device can be secured simply by shutting off the power supply to other non-traveling electric devices, driving support is made more effective by enabling operation without restricting the interlocking braking operation. Can be done.

  The electric brake device has a normal voltage mode and a low voltage mode operable at a voltage lower than the normal voltage mode, and the power supply controller is the power storage device detected by the voltage detector. May be configured to switch from the normal voltage mode to the low voltage mode when the voltage becomes equal to or lower than a third voltage that is equal to or lower than the first voltage.

  Even when the voltage of the power storage device becomes lower, the electric brake device can be operated by switching the electric brake device to a low voltage mode that can be operated at a voltage lower than the normal voltage mode.

  The electric brake device also generates a braking force to either the front or rear wheel when the anti-lock operation unit that repeats a braking state or a non-braking state and a braking force to the front or rear wheel. The anti-lock operation unit has a normal voltage mode and a low voltage mode operable at a voltage lower than the normal voltage mode, and the power supply controller detects the voltage When the voltage of the power storage device detected by the detector becomes equal to or lower than a predetermined second voltage, the operation of the interlock braking unit is limited, and the voltage of the power storage device detected by the voltage detector is the second voltage. When the voltage is equal to or lower than a third voltage that is the following voltage, the antilock operation unit may be switched from the normal voltage mode to the low voltage mode.

  In this case, the interlock braking operation is limited when the voltage of the power storage device is equal to or lower than the second voltage, and further, when the voltage of the power storage device is equal to or lower than the third voltage that is equal to or lower than the second voltage, Switch to mode. That is, since the restriction of the interlocking braking operation and the mode change of the anti-lock operation unit can be performed in stages, the driving support by the electric brake device can be performed more effectively.

  In addition, the anti-lock operation unit may be configured to continue the low voltage mode until the ignition switch is turned off after shifting to the low voltage mode.

  According to this, once the anti-lock operation unit shifts to the low voltage mode, the low voltage mode is continued until the ignition switch is turned off even if the voltage of the battery subsequently recovers to a voltage higher than the second voltage. The If the antilock operation unit is operated in the normal voltage mode under a situation where there is a possibility that the power storage device is deteriorated or has a poor charging, there is a possibility that a rapid voltage drop of the power storage device is induced. Therefore, once the voltage of the power storage device becomes equal to or lower than the second voltage, a rapid voltage drop can be prevented by maintaining the low voltage mode, and the period during which the motorcycle can travel can be lengthened. it can.

  Furthermore, when the said anti-lock operation | movement part is the said low voltage mode, you may provide the indicator which alert | reports that it is the said low voltage mode.

  According to this, when the antilock operation unit is in the low voltage mode, the driver is notified of the transition to the low voltage mode of the antilock operation unit by notifying that the display unit is in the low voltage mode. be able to. In addition, once the anti-lock operation unit shifts to the low voltage mode, even if the voltage of the power storage device recovers to the second voltage or higher after that, the display device informs until the ignition switch is turned off. It is possible to alert the driver that there is a possibility that deterioration, charging failure, or the like has occurred.

  Further, another aspect of the motorcycle according to the present invention includes an electric brake device that assists braking by electric drive, an electric storage device that supplies electric power to the electric brake device, and a voltage detector that detects a voltage of the electric storage device. An electric power supply controller, and the electric brake device includes an anti-lock operation unit that repeats a braking state and a non-braking state, and when generating braking force on either one of the front and rear wheels, The power supply controller, when the voltage of the power storage device detected by the voltage detector is equal to or lower than a predetermined second voltage, The operation of the interlocking braking unit is limited.

  According to the above configuration, when the voltage of the power storage device becomes a low voltage, the interlocking braking operation is limited in the electric brake device, so that the operation voltage of the antilock operation unit is secured and the antilock operation can be activated. Can be made longer.

  The present invention is configured as described above, and has an effect that it is possible to lengthen the operable period of the electric brake device even when the voltage of a power storage device such as a battery is lowered.

1 is a right side view showing a motorcycle according to an embodiment of the present invention. Fig. 2 is a block diagram showing a system configuration of a control system mounted on the motorcycle shown in Fig. 1. It is a figure which shows the hydraulic system of the electric brake device in this embodiment. It is a state transition diagram which shows the electric power supply state in each apparatus of this embodiment. It is a control flowchart regarding electric power supply control in engine ECU of this embodiment. It is a control flowchart regarding the electric power supply control in ECU for electric braking of this embodiment. It is a figure which shows the fluctuation | variation of the battery voltage at the time of an antilock operation | movement.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted. The direction concept used in the following description is based on the direction seen from the driver riding the motorcycle.

  FIG. 1 is a right side view showing a motorcycle according to an embodiment of the present invention. As shown in FIG. 1, the motorcycle 1 includes a front wheel 2 and a rear wheel 3 that roll on a road surface. The rear wheel 3 is a driving wheel, and the front wheel 2 is a driven wheel. The front wheel 2 is rotatably supported by a lower end portion of a front fork 4 that extends substantially in the vertical direction. The front fork 4 has an upper bracket (not shown) provided at the upper end portion thereof and a lower portion of the upper bracket. Is supported by a steering shaft (not shown) through an under bracket (not shown) provided on the steering wheel. The steering shaft is rotatably supported by the head pipe 5. A bar-type handle 6 extending to the left and right is attached to the upper bracket. Front wheel brake discs 36 </ b> A are fixed to the left and right sides of the front wheel 4. A front wheel brake caliper 36 </ b> B is supported at the lower end of the front fork 4. The front wheel brake disc 36A and the front wheel brake caliper 36B constitute a front wheel brake 36 (see FIG. 2). A piston (not shown) of the front wheel brake caliper 36B is pressed against the front wheel brake disc 36A by hydraulic pressure to generate a braking force. Let

  A throttle grip 7 provided at a portion of the handle 6 that is gripped by the right hand of the driver is a throttle input means for operating a throttle device 16 (see FIG. 2), which will be described later, by being rotated by twisting of the wrist. A brake lever 59 that mainly operates the front wheel brake 36 is provided in front of the throttle grip. A clutch lever 8 (see FIG. 2) is provided in front of the grip provided on the portion of the handle 6 that is gripped by the driver's left hand. The driver can turn the front wheel 2 in a desired direction about the steering shaft by rotating the handle 6.

  A pair of left and right main frames 9 extend rearward from the head pipe 5 while being inclined downward, and a pair of left and right pivot frames 10 are connected to the rear portion of the main frame 9. The pivot frame 10 is pivotally supported by a front end portion of a swing arm 11 extending substantially in the front-rear direction, and a rear wheel 3 is rotatably supported by the rear end portion of the swing arm 11. A fuel tank 12 is provided behind the handle 6, and a seat 13 for riding a driver is provided behind the fuel tank 12. A rear wheel brake disc 38A is fixed to the right side of the rear wheel 3. A rear wheel brake caliper 38B is supported at the rear end of the swing arm 11. The rear wheel brake disc 38A and the rear wheel brake caliper 38B constitute a rear wheel brake 38 (see FIG. 2), and a piston (not shown) of the rear wheel brake caliper 38B is pressed against the rear wheel brake disc 38A by hydraulic pressure. The brake force is generated by Steps 15 on which the driver puts his / her feet are provided below the seat 13 and on the left and right sides. A brake pedal 60 extending forward is pivotally supported on the right step 15, and the rear wheel brake 38 can be mainly operated when the driver steps on the foot.

  An engine E is mounted between the front wheel 2 and the rear wheel 3 while being supported by the main frame 9 and the pivot frame 10. In FIG. 1, a parallel four-cylinder engine is illustrated as the engine E. A transmission 14 (see FIG. 2) is connected to the output shaft of the engine E, and the driving force output from the transmission 14 is transmitted to the rear wheel 3 via a chain (not shown). A throttle device 16 (see FIG. 2) disposed inside the main frame 9 is connected to an intake port (not shown) of the engine E. An air cleaner 19 (see FIG. 2) disposed below the fuel tank 12 is connected to the upstream side of the throttle device 16 and is configured to take in outside air using traveling wind pressure from the front. Further, in the internal space below the seat 13, an engine ECU (engine ECU) that controls the throttle device 16, the ignition device 26 (see FIG. 2), the fuel injection device (here, the injector 31; see FIG. 2), and the like. Engine control unit) 17, ignition device 26, injector 31, engine ECU 17, and the like, battery 51 that is a power storage device that supplies electric power is housed. The power storage device is a device that stores electric power supplied from the outside, and is not limited to a battery that is a secondary battery, and may be a capacitor, for example.

  FIG. 2 is a block diagram showing a system configuration of a control system mounted on the motorcycle shown in FIG. As shown in FIG. 2, an air cleaner 19 is inserted in an intake pipe 20 that connects an intake port (not shown) and the engine E. A throttle device 16 is provided between the air cleaner 19 and the engine E. The throttle device 16 includes a main throttle valve 21 disposed in the middle of the intake pipe 20 and a sub-throttle valve 22 disposed on the upstream side of the main throttle valve 21 of the intake pipe 20. The main throttle valve 21 is connected to the throttle grip 7 via the throttle wire 23, and is configured to open and close in conjunction with the operation of the throttle grip 7 by the driver. The main throttle valve 21 is provided with a throttle position sensor (throttle opening sensor) 25 that detects the opening of the main throttle valve 21. The main throttle valve 21 is mechanically linked to the throttle grip 7, and the throttle position sensor 25 also serves as a throttle operation amount detection means that can indirectly detect the opening degree of the throttle grip 7.

  The sub-throttle valve 22 is connected to a valve actuator 24 composed of a motor controlled by the engine ECU 17, and is driven by the valve actuator 24 so as to open and close. Further, the throttle device 16 is provided with an injector 31 for injecting fuel into an intake passage connected to the intake pipe 20. The engine E is provided with an ignition device 26 that ignites the air-fuel mixture in the four cylinders. As described above, the engine E is connected to the transmission 14 that changes the power of the engine E and transmits it to the rear wheels 3.

  The transmission 14 is provided with a clutch 27 for transmitting or interrupting power. The clutch 27 is configured such that power transmission is interrupted when the clutch lever 8 is gripped by the driver. The clutch lever 8 is provided with a clutch switch (clutch detection means) 28 that can detect whether or not the clutch lever 8 is gripped by the driver. The transmission 14 is provided with a gear position sensor 29 for detecting the gear position.

  The motorcycle 1 of this embodiment includes an electric brake device having an anti-lock operation unit that functions as an anti-lock braking system and an interlocking brake unit that functions as a combined braking system. Yes. The electric brake device has an electric braking ECU 33. The electric braking ECU 33 is connected to a front wheel vehicle speed sensor 34 that detects the front wheel vehicle speed from the rotation speed of the front wheel 2 and a rear wheel vehicle speed sensor 35 that detects the rear wheel vehicle speed from the rotation speed of the rear wheel 3. The electric braking ECU 33 is connected to front wheel side control valves 67 and 68 for operating the front wheel brake 36 and rear wheel side control valves 61 and 62 for operating the rear wheel brake 38.

  The electric braking ECU 33 includes an operation control unit 44 that functions as a power supply controller for the antilock operation unit and the interlocking braking unit, and a voltage detector 52 b that detects the voltage of the battery 51. The voltage detector 52 b detects the voltage of the battery 51 by detecting the input voltage applied to the input terminal of the electric braking ECU 33 to which electric power is supplied from the battery 51.

  The operation control unit 44 performs power supply control on each electric device based on the detection result of the voltage detector 52b that detects the voltage of the battery 51 and the operation signal from the ignition switch 53 that performs power management of the motorcycle 1. . That is, in the present embodiment, the operation control unit 44 of the electric braking ECU 33 functions as a power supply controller.

  The engine ECU 17 is connected to a throttle position sensor 25, a clutch switch 28, a gear position sensor 29, and an engine speed sensor 30. The engine ECU 17 includes an engine control unit 41, an ignition control unit 42, a fuel control unit 48, a sub-throttle control unit 43, a power supply control unit 49, and a voltage detector 52a that detects the voltage of the battery 51. is doing. The voltage detector 52 a detects the voltage of the battery 51 by detecting the input voltage applied to the input terminal of the engine ECU 17 to which power is supplied from the battery 51. The engine control unit 41 performs calculations related to engine control based on the signals input from the sensors 25, 29, 30 and the switch 28. The ignition control unit 42 controls the ignition device 26 based on the calculation result in the engine control unit 41. The fuel control unit 48 controls the injector 31 based on the calculation result in the engine control unit 41. The sub throttle control unit 43 drives the valve actuator 24 based on the calculation result in the engine control unit 41 and controls the opening degree of the sub throttle valve 22. The motorcycle 1 has a display device 50 at a position where the driver can visually recognize, and performs various displays on the display device 50 according to the calculation result of the engine ECU 17. Further, the display device 50 includes a display (ABS warning light) 501 that is turned on and notified when the anti-lock operation unit is malfunctioning.

  The power supply control unit 49 controls the power supply to each electric device based on the detection result of the voltage detector 52a that detects the voltage of the battery 51 and the operation signal from the ignition switch 53 that performs power management of the motorcycle 1. Do. That is, in the present embodiment, the power supply control unit 49 of the engine ECU 17 functions as a power supply controller.

  In the present embodiment, as described above, the voltage detectors 52a and 52b are built in the engine ECU 17 and the electric braking ECU 33, respectively, and the voltage detectors 52a and 52b are input voltages of the engine ECU 17 and the electric braking ECU 33, respectively. By detecting this, the voltage of the battery 51 is detected. Thereby, since the actual voltage applied to the input terminal of each ECU17 and 33 is detected, the voltage used as the reference | standard of control can be detected with high precision. However, the mode of the voltage detector is not limited to this as long as the voltage of the battery 51 is detected. For example, one or a plurality of voltage detectors may be separately provided outside the ECUs 17 and 33, or the battery It is good also as detecting the voltage between 51 terminals directly.

  The electric device includes a traveling system device and a non-traveling system device. The traveling system device includes ECUs 17 and 33, sensors 25, 29, 30, 34 and 35, and actuators 24, 26 and 31. That is, the traveling system device is an electric drive device necessary for traveling the motorcycle. The traveling system device includes an electric device for driving the engine E and a lighting device. The electric device for driving the engine includes, for example, an engine starting system device such as an ignition switch, an ignition system device such as an ignition device, an intake system device such as a fuel injection device and an electric throttle valve, a cooling system device such as a cooling fan, and an engine drive Various sensors for control and an engine ECU 17 which is an engine control device are included. Further, the lighting device includes a head lamp that irradiates light forward, a position lamp, a tail lamp that notifies the position of the vehicle body at the rear of the vehicle body, a stop lamp (brake lamp) that notifies the time of braking, and a winker that serves as a right / left turn signal lamp. In addition, the travel system device may include a meter device (such as the display device 50) that informs the driver of the vehicle body state such as the vehicle speed, the engine speed, and the operation state of each device.

  The non-traveling system device includes an electric brake device having front wheel side and rear wheel side control valves 67, 68 and 61, 62 and a braking motor 66 described later, and other non-traveling system electric devices such as an external accessory terminal 55. And an external accessory that is additionally connected via a grip, a grip heater 56 that warms the grips 6 and 7, an electric windshield 57 that can electrically adjust the shield angle, an audio 58, and the like. That is, the motorcycle can run even if the power supply to the non-traveling system device is stopped. The battery 51 supplies power to the traveling system device and the non-traveling system device.

  Here, the electric brake device of the present embodiment will be described in more detail. The electric brake device in the present embodiment is configured as one system in which an antilock operation unit and an interlocking braking unit are combined with each other. FIG. 3 is a diagram illustrating a hydraulic system of the electric brake device according to the present embodiment.

  As shown in FIG. 3, the brake pedal 60 is provided with a rear wheel brake master cylinder 39, and the hydraulic pressure of the rear wheel side oil passage is increased or decreased according to the depression amount of the brake pedal 60. A rear wheel side first control valve 61 is provided in the middle of the rear wheel side main oil passage 81 connecting the rear wheel brake master cylinder 39 and the rear wheel brake caliper 38B of the rear wheel brake 38, and the electric brake ECU 33 is provided. Is controlled to open and close. Further, from the middle of the rear-wheel main oil passage 81 between the rear-wheel-side first control valve 61 and the rear-wheel brake caliper 38B, a rear-wheel-side decompression oil passage 82 that reaches the suction port of the rear-wheel oil pump 63 is provided. The rear wheel side second control valve 62 that is controlled to be opened and closed by the electric braking ECU 33 is provided in the middle of the rear wheel pressure reducing oil passage 82. Further, a rear wheel side reservoir 65 is provided in a rear wheel side pressure reducing oil passage 82 between the rear wheel side second control valve 62 and the rear wheel side oil pump 63. At the discharge port of the rear wheel side oil pump 63, a rear wheel side pressurized oil passage 83 connected to a rear wheel side main oil passage 81 between the rear wheel brake master cylinder 39 and the rear wheel side first control valve 61 is provided. Are connected, and a rear wheel side one-way valve 64 is provided in the middle of the rear wheel side pressurized oil passage 83. The rear wheel side oil pump 63 is connected to a brake motor 66 controlled by the electric braking ECU 33, and the hydraulic pressure discharged from the rear wheel side oil pump 63 is adjusted by rotationally driving the brake motor 66. Is done.

  On the other hand, the brake lever 59 is provided with a front wheel brake master cylinder 37, and the hydraulic pressure of the front wheel side oil passage is increased or decreased according to the grip amount of the brake lever 59. A front wheel side first control valve 67 is provided in the middle of the front wheel side main oil passage 84 connecting the front wheel brake master cylinder 37 and the front wheel brake caliper 36B of the front wheel brake 36, and the operation control unit of the electric braking ECU 33 ( 44). Further, a front wheel side pressure reducing oil passage 85 leading to the suction port of the front wheel side oil pump 69 is branched from the front wheel side main oil passage 84 between the front wheel side first control valve 67 and the front wheel brake caliper 36B. A front wheel side second control valve 68 that is controlled to be opened and closed by the electric braking ECU 33 is provided in the middle of the front wheel side decompression oil passage 85. A front wheel side reservoir 71 is provided in a front wheel side pressure reducing oil passage 85 between the front wheel side second control valve 68 and the front wheel side oil pump 69. A front wheel side pressurized oil passage 86 connected to a front wheel side main oil passage 84 between the front wheel brake master cylinder 37 and the front wheel side first control valve 67 is connected to the discharge port of the rear wheel side oil pump 63. A front wheel side one-way valve 70 is provided in the middle of the front wheel side pressurized oil passage 86. The front wheel side oil pump 69 is also connected to a braking motor 66 controlled by the electric braking ECU 33 (the operation control unit 44 thereof), and is discharged from the rear wheel side oil pump 69 when the braking motor 66 is driven to rotate. The operating hydraulic pressure is adjusted. That is, the electric brake device according to the present embodiment includes an interlocking braking unit having a braking motor 66 and a front wheel side oil pump 69 and a rear wheel side oil pump 63 connected thereto, and controls the braking motor 66. Thus, the braking force of the front wheel 2 and the rear wheel 3 can be controlled simultaneously.

  Note that the electric brake device of the present embodiment has a hydraulic circuit that can perform a brake operation even when the oil pumps 63 and 69 are in a drive stop state. Specifically, the electric brake device reduces the hydraulic pressure corresponding to the depression amount of the brake pedal 60 even when the power supply to the brake motor 66 and the control valves 61, 62, 67, 68 is stopped. The hydraulic pressure can be transmitted to the wheel brake caliper 38B, and the hydraulic pressure corresponding to the grip amount of the brake lever 59 can be transmitted to the front wheel brake caliper 36B. Thus, even when the anti-lock operation unit and the interlocking braking unit stop the electric drive, it is possible to transmit the braking command from the driver to the electric brake device. In other words, the electric brake device is provided for driving assistance, and is positioned as a non-traveling system device that can travel on the vehicle body (can be used as a non-electric brake device) even when the electric drive is stopped. It is done.

  The antilock operation in the antilock operation unit of such an electric brake device will be described. Here, only the rear wheel side mechanism will be described. During normal braking, when the brake pedal 60 is depressed, the rear wheel-side first control valve 61 is opened and the rear wheel-side second control valve 62 is closed, depending on the depression amount of the brake pedal 60. The hydraulic fluid pressurized by the rear wheel brake master cylinder 39 is sent to the rear wheel brake caliper 38B to generate a braking force. The electric braking ECU 33 receives the vehicle speeds of the front wheels 2 and the rear wheels 3 from the front wheel speed sensor 34 and the rear wheel speed sensor 35, and the difference between the front wheel speed and the rear wheel speed becomes a predetermined value or more. In this case, the electric braking ECU 33 determines that the rear wheel 3 is in the locked state. Then, the rear wheel side first control valve 61 is closed, and the rear wheel side second control valve 62 is opened. Further, by operating the rear wheel side oil pump 63 via the brake motor 66 functioning as an anti-lock operation unit, the hydraulic oil that has pressurized the rear wheel brake caliper 38B is stored in the rear wheel side reservoir 65, and the rear The hydraulic pressure in the wheel side brake caliper 38B decreases, and the braking force is weakened. Thereby, the locked state (in other words, slip state) of the rear wheel 3 is canceled. After the locked state is released, the braking force is increased by opening the rear wheel side first control valve 61 and closing the rear wheel side second control valve 62 again. As described above, the anti-lock operation unit can generate an appropriate braking force (act on the wheel) while effectively preventing the locked state of the wheel by repeating the braking state and the non-braking state.

  The anti-lock operation unit has a normal voltage mode for performing the control as described above and a low voltage mode that can be operated at a voltage lower than the normal voltage mode. The operation control unit 44 switches the control mode of the electric braking ECU 33 according to the detected voltage of the battery 51. That is, the operation control unit 44 of the electric braking ECU 33 functions as a control unit (power supply controller) of the antilock operation unit.

  Next, the interlocking braking operation in the interlocking braking unit of the electric brake device will be described. When the interlocking braking unit generates a braking force on one of the front and rear wheels 2 and 3, the interlocking braking unit also generates a braking force on either of the front and rear wheels 2 and 3. More specifically, as described above, when the brake pedal 60 is depressed, the rear wheel side first control valve 61 is opened, but in addition, the front wheel side first control valve 67 is also opened. At this time, the front wheel side oil pump 69 and the rear wheel side oil pump 63 are operated via the braking motor 66 functioning as an interlocking braking portion while the front wheel side second control valve 67 is closed. As a result, the hydraulic oil stored in the front wheel side reservoir 71 and the rear wheel side reservoir 65 is positively provided between the front wheel side oil pump 69 and the front wheel brake caliper 36B, and between the rear wheel side oil pump 63 and the rear wheel brake caliper 38B. The oil pressure is increased by being sent to the oil path between the two and the braking force is generated on both the front wheel 2 and the rear wheel 3. The electric braking ECU 33 is connected to the front wheel side and / or rear wheel side first control valves 66 and 61 and the front wheel side and / or rear wheel side first control valves in accordance with vehicle speed information sent from the front wheel vehicle speed sensor 34 and the rear wheel vehicle speed sensor 35. 2 Opening / closing control with respect to the control valves 67 and 62 and driving control of the braking motor 66 are performed to adjust the braking force on each of the front wheels 2 and the rear wheels 3. The same operation is possible when the brake lever 59 is operated.

  As will be described later, the interlock braking unit has an operation mode in which the above control is performed and an operation restriction mode in which the above control is not performed and the hydraulic oil is not supplied to the other wheel. As will be described later, the operation control unit 44 switches the control mode of the electric braking ECU 33 in accordance with the voltage detected by the voltage detector 52b. That is, the operation control unit 44 of the electric braking ECU 33 functions as a control unit (power supply controller) of the interlocking braking unit.

  Subsequently, the power supply control of the present embodiment will be described in more detail.

  In the present embodiment, the power supply control unit 49 functioning as a power supply controller performs various controls according to the state of the battery 51 detected by the voltage detector 52 a built in the engine ECU 17. That is, when the voltage of the battery 51 detected by the voltage detector 52a becomes equal to or lower than the predetermined first voltage V1, the power supply control unit 49 is at least one of the non-traveling electric devices other than the electric brake device. Shut off the power supply to Further, when the voltage detected by the voltage detector 52b incorporated in the electric braking ECU 33 becomes equal to or lower than the predetermined second voltage V2, the operation control unit 44 restricts the operation of the interlocking braking unit of the electric brake device. . Further, when the voltage detected by the voltage detector 52b becomes equal to or lower than the third voltage V3 (V3 ≦ V1) that is equal to or lower than the first voltage V1, the operation control unit 44 sets the antilock operation unit to the normal voltage mode. To low voltage mode.

  In addition, when the voltage detected by the voltage detector 52b becomes a predetermined fourth voltage V4 that is equal to or lower than the first voltage V1, the operation control unit 44 of the electric braking ECU 33 cuts off the power supply to the electric brake device. . That is, at the fourth voltage V4 or lower, neither the interlock braking operation nor the antilock operation is performed.

  Here, the first voltage V1 to the fourth voltage V4 may be voltages that are lower than the rated voltage of the battery 51 and higher than the minimum braking voltage VB necessary for the antilock operation. As for the first voltage V1 and the second voltage V2, one of them may be set to a larger voltage (V1> V2 or V1 <V2) than the other, or the same voltage (V1 = V2). Also, regarding the second voltage V2 and the third voltage V3, either one may be set to a voltage (V2> V3 or V2 <V3) greater than the other, or the same voltage (V2 = V3). The fourth voltage V4 is preferably a voltage (V4 <V2, V3) lower than the second voltage V2 and the third voltage V3.

  Hereinafter, as an example, a detailed flow of power supply control when first voltage V1> second voltage V2 = third voltage V3> fourth voltage V4> minimum braking voltage VB will be described. FIG. 4 is a state transition diagram showing a power supply state in each device of the present embodiment, and FIGS. 5 and 6 are control flowcharts relating to power supply control in the present embodiment. FIG. 5 is a control flowchart in the engine ECU, and FIG. 6 is a control flowchart in the electric braking ECU. In addition, the arrow between each state of FIG. 4 represents the direction which can be changed.

  First, the flow of power supply control in the engine ECU 17 will be described. As shown in FIG. 5, in this control, the flag 1 is set in advance. By turning on the ignition switch 53, the flag 1 is reset (OFF) (step S11).

  The power supply controller 49 functioning as a power supply controller determines whether or not the voltage V of the battery 51 detected by the voltage detector 52a of the engine ECU 33 is equal to or lower than the first voltage V1 (for example, 11V) (step). S12). More specifically, the power supply control unit 49 determines whether or not the first voltage V1 or lower is continued for a predetermined time (for example, 1 second). When the voltage V of the battery 51 becomes equal to or lower than the first voltage V1 (Yes in step S12), control is performed to cut off the power supply to at least one of the non-traveling electric devices other than the electric brake device. (Step S13, FIG. 4). Specifically, as a predetermined non-traveling electric device, for example, power supply to one or more of the grip heater 56, the external accessory terminal 55, the electric windshield 57, the audio 58, etc. is cut off (power supply mode). Switch to power cut-off mode). Of these, it is particularly effective to cut off the power supply of the non-traveling electric device (for example, the grip heater 56) with high power consumption (high operating voltage).

  Further, the power supply may be cut off step by step according to the voltage. For example, the power supply may be cut off from a low contribution of driving support or a high power consumption. The power supply may be cut off in the order of the external accessory terminal 55, the grip heater 56, and the electric windshield 57 in accordance with the voltage drop of the battery 51. Of the non-travel electric devices other than the electric brake device, in a motorcycle equipped with a travel communication device such as an anti-theft device and an in-vehicle device for ETC, the anti-theft device and the in-vehicle device for ETC regardless of the voltage of the battery 51. The power supply of the travel communication device such as the device may not be cut off, and the power supply of the remaining non-travel electric devices may be cut off sequentially.

  Note that when the power supply is cut off, the power supply control unit 49 may directly control the other non-traveling electric apparatus to stop the power supply, but the battery 51 and the other non-traveling system may be controlled. The power supply may be indirectly controlled by controlling a switching circuit such as a relay circuit that closes or disconnects the electric device.

  When the power supply to the predetermined other non-travel electric device is cut off, the power supply control unit 49 determines whether or not the flag 1 is ON (step S14), and the flag 1 is ON. If not (No in step S14), flag 1 is turned on (step S15).

  According to this configuration, when the voltage V of the battery 51 becomes a low voltage, power supply to a predetermined other non-traveling electric device other than the electric brake device that is not directly related to the traveling of the motorcycle 1 is interrupted. Therefore, a state where the voltage V of the battery 51 is relatively high (the state shown in FIG. 7A) can be maintained. Therefore, the operating voltage of the electric brake device can be ensured, and the operable period of the electric brake device can be lengthened.

  When the voltage V of the battery 51 becomes equal to or lower than the first voltage V1, the power supply control unit 49 causes the display device 50 to display a display indicating a low voltage. For example, when the display device 50 includes a liquid crystal display device, the display may be performed on the liquid crystal display device. When the display device 50 includes a dedicated low voltage warning light, the low voltage warning light is turned on. You may let them.

  When the voltage V of the battery 51 is higher than the first voltage V1 (No in step S12), it is further determined whether or not the flag 1 is ON (step S16), and if the flag 1 is not ON. The initial state (power supply to a predetermined non-running electric device) is maintained.

  After the power supply control unit 49 enters the power cut-off mode in which the power supply to other predetermined non-travel electric motors is cut off, the voltage V of the battery 51 (the voltage detected by the voltage detector 52a) is the first. When the voltage is higher than 1 voltage V1 (the state where the voltage is higher than the first voltage V1 has continued for a predetermined time (for example, 2 seconds) or longer) (No in step S12 and Yes in step S16), the power supply control unit 49 Is switched to the power supply mode, and the power supply to a predetermined other non-travel electric motor is resumed (step S17, FIG. 4). At this time, the power supply control unit 49 turns off the flag 1 (step S18). Further, the power supply control unit 49 cancels the low voltage display of the display device 50.

  Note that switching from the power cut-off mode to the power supply mode may be performed when the voltage V of the battery 51 becomes a predetermined voltage V0 (for example, 12V) higher than the first voltage V1 (a broken line in FIG. 4). ). As a result, when the voltage V of the battery 51 rises and falls near the first voltage V1, power supply to and interruption of the predetermined other non-traveling electric device is repeated frequently. Can be prevented.

  Next, the flow of power supply control in the electric braking ECU 33 will be described. As shown in FIG. 6, in this control, the flag 2 is set in advance. By turning on the ignition switch 53, the flag 2 is reset (OFF) (step S21).

  The operation control unit 44 of the electric braking ECU 33 sets the anti-lock operation unit (abbreviated as ABS in FIGS. 4 and 6) to the normal voltage mode and also has an interlocking braking unit (abbreviated as CBS in FIGS. 4 and 6). The operation mode is set (step S22). The operation control unit 44 controls to turn off the ABS warning lamp (step S23).

  The operation control unit 44 monitors the voltage V of the battery 51 detected by the voltage detector 52b, and whether the voltage V of the battery 51 is equal to or lower than the second voltage V2 (for example, 9.6 V) lower than the first voltage V1. It is determined whether or not (step S24). More specifically, the operation control unit 44 determines whether or not the second voltage V2 or less is continued for a predetermined time (for example, 1 second). When the voltage V of the battery 51 becomes equal to or lower than the second voltage V2 (Yes in step S24), the operation control unit 44 that functions as the control unit of the interlocking brake unit is an operation restriction mode in which the operation of the interlocking brake unit is stopped. (Step S25, FIG. 4). Furthermore, the operation braking unit 44 also functions as a control unit for the stationary lock operation unit. When the voltage V of the battery 51 becomes equal to or lower than the third voltage V3, which is the same voltage as the second voltage V2, the anti-lock operation unit is activated. Control is performed to shift to the low voltage mode (step S25, FIG. 4).

  As a result, even when the voltage V of the battery 51 becomes even lower, the interlock braking unit is not operated, and the antilock operation unit is switched to a low voltage mode that can be operated at a voltage lower than the normal voltage mode. Thus, the operating voltage of the anti-lock operation unit can be ensured and the period during which the anti-lock operation can be operated can be lengthened. Further, by performing the power supply control stepwise according to the voltage V of the battery 51, the driving support by the electric brake device can be performed more effectively.

  The electric braking ECU 33 controls the anti-lock operation unit to perform the anti-lock operation with lower electric power than in the normal voltage mode in the low voltage mode. For example, in the low voltage mode of the anti-lock operation unit, the electric braking ECU 33 makes the operation cycle (voltage pulse cycle) of each control valve 61, 62, 66, 68 longer than that in the normal voltage mode or the operation time ( Control is performed such that the pulse width of the voltage pulse is shortened from that in the normal voltage mode. By performing such control, the average power supplied from the battery 51 to the electric brake device per unit time is lowered. As a result, the amount of power required for the antilock operation can be reduced while continuing the antilock operation. In the normal voltage mode of the anti-lock operation unit, the electric brake device is operated with a marginal voltage in order for the electric brake device to fully demonstrate the effect of the anti-lock operation, but the low voltage of the anti-lock operation unit In the mode, the electric brake device is operated at a consumption voltage that is lower than the normal voltage mode and at which the electric brake device can exert the effect of slip control.

  Further, the operation control unit 44 notifies the ABS warning lamp 501 that the antilock operation unit has shifted to the low voltage mode when the antilock operation unit is in the low voltage mode. Specifically, for example, the ABS warning lamp 501 is controlled to blink (step S26). In the low voltage mode of the anti-lock operation unit, the ABS warning lamp 501 is displayed (flashing display) in a mode different from the normal lighting mode, thereby informing the driver of the transition to the low voltage mode of the anti-lock operation unit. can do. In the present embodiment, when the anti-lock operation unit is in the low voltage mode, the ABS warning lamp 501 is blinked as a display for notifying that the low voltage mode is in effect. For example, a dedicated display device for the low voltage mode may be provided, or a display may be displayed on the liquid crystal display device. Further, instead of blinking display, it may be displayed in another display mode such as changing the color.

  Here, as shown in FIG. 4, the anti-lock operation unit is controlled so as to continue the low voltage mode from the transition to the low voltage mode until the ignition switch 53 is turned OFF. Further, the interlocking braking unit is also controlled so as to continue the operation restriction mode until the ignition switch 53 is turned OFF after shifting to the operation restriction mode. That is, once the anti-lock operation unit is in the low voltage mode and the interlocking braking unit is in the operation restriction mode, the battery is turned on unless the ignition switch 53 is turned on and reset again (step S21) after turning the ignition switch 53 off. Even if the voltage V of 51 becomes higher than the second voltage V2 (= third voltage V3), the antilock operation unit and the interlocking braking unit do not enter the normal voltage mode and the operation mode (No in step S24).

  As a result, once the anti-lock operation unit shifts to the low voltage mode and the interlocking braking unit shifts to the operation restriction mode, the voltage V of the battery 51 is set higher than the second voltage V2 (= third voltage V3) thereafter. Even after the recovery, the low voltage mode and the operation restriction mode are continued until the ignition switch 53 is turned off. In the case of a deteriorated battery, even if the voltage V of the battery rises, the amount of voltage drop at the start of operation of the antilock operation unit or the like is considered to be larger than that of a battery that has not deteriorated. In other words, if the anti-lock operation unit is operated in the normal voltage mode or the interlocking braking unit is operated in a situation where there is a possibility that the battery is deteriorated or charged, a sudden voltage drop of the battery is induced. There is a possibility that. Therefore, once the voltage V of the battery 51 becomes equal to or lower than the second voltage V2 (= third voltage V3), a rapid voltage drop can be prevented by maintaining the low voltage mode and the operation restriction mode. The period during which the motorcycle 1 can travel can be lengthened.

  Further, once the anti-lock operation unit shifts to the low voltage mode, even if the voltage V of the battery 51 subsequently recovers to the second voltage V2 (= third voltage V3) or higher, until the ignition switch 53 is turned OFF, Since the ABS warning lamp 501 is displayed blinking, it is possible to alert the driver that there is a possibility that the battery 51 is deteriorated or charged poorly.

  Note that, as described above, the engine ECU 17 and the electric braking ECU 33 are controlled to operate independently, and even when the anti-lock operation unit temporarily shifts to the low voltage mode and the interlock braking unit shifts to the operation restriction mode. When the voltage V of the battery 41 is restored to the first voltage V1 or higher, the operation control unit 44 of the electric braking ECU 33 maintains the low voltage mode and the operation restriction mode while the power supply control unit 49 of the engine ECU 17 The power supply cutoff control of the other non-travel electric device is released.

  Further, the operation control unit 44 determines whether or not the voltage V of the battery 51 is equal to or lower than a fourth voltage V4 (for example, 8.5 V) lower than the second voltage V2 (= third voltage V3) (step S27). . More specifically, the power supply control unit 49 determines whether or not the fourth voltage V4 or lower is continued for a predetermined time (for example, 1 second). When the voltage V of the battery 51 becomes equal to or lower than the fourth voltage V4 (Yes in Step S27), the operation control unit 44 controls to cut off the power supply to the electric brake device (Step S28, FIG. 4). Note that the control for cutting off the power supply to the electric brake device maintains the operation restriction mode of the interlocking braking part, and the antilock operation part is set to the operation restriction mode so that the antilock action is not performed in the antilock operation part. A mode of transition is also included.

  Further, the operation control unit 44 performs control so that the ABS warning lamp 501 is turned on in order to warn that the anti-lock operation unit does not perform the anti-lock operation when the power supply to the electric brake device is cut off (step). S29, FIG. 4). When the power supply to the electric brake device is cut off, the ABS warning lamp 501 is turned on to notify the driver that the antilock operation is not performed.

  When the power supply to the electric brake device is interrupted, the operation control unit 44 determines whether or not the flag 2 is ON (step S30), and if the flag 2 is not ON (in step S30). No), the flag 2 is turned on (step S31).

  As described above, the electric brake device is not electrically driven before the voltage of the battery 51 further decreases and becomes a voltage at which the operating voltage of the antilock operation unit cannot be secured (that is, before the voltage reaches the minimum limit voltage VB). Thus, the period during which the motorcycle 1 can travel can be lengthened.

  When the voltage V of the battery 51 becomes higher than the fourth voltage V4 after the anti-lock operation unit of the electric brake device is in the operation restriction mode (No in step S27 and Yes in step S32), the operation control unit 44 is The flag 2 is turned off (step S33), the power supply to the electric brake device is resumed, the anti-lock operation unit is switched to the low voltage mode while the interlocking brake unit is held in the operation restriction mode, and the anti-lock operation unit is activated. Is resumed (step S25, FIG. 4). Further, the operation control unit 44 switches the ABS warning lamp 501 to blinking display (step S26, FIG. 4).

  As described above, the motorcycle 2 is controlled so as to operate the anti-lock operation unit as much as possible even when the voltage becomes low. In addition, the operable period of the electric brake device of the motorcycle 1 can be lengthened.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various improvements, changes, and modifications can be made without departing from the spirit of the present invention.

  For example, in the present embodiment, the control for cutting off the power supply to other non-traveling electric devices at the first voltage V1 or less, the control for restricting the operation of the interlocking braking unit at the second voltage V2 or less, the third voltage V3. In the following, the control for switching the anti-lock operation unit from the normal voltage mode to the low voltage mode and the control for cutting off the power supply to the electric brake device at the fourth voltage V4 or less have been described. One or a plurality of controls may be performed.

  Further, in the present embodiment, the case where the second voltage V2 = the third voltage V3 has been particularly described. However, as described above, either one may be set to a voltage (V2> V3 or V2 <V3) that is larger than the other. Good. By doing so, the restriction of the interlocking braking operation and the mode change of the anti-lock operation unit can be performed in stages, so that the driving support by the electric brake device can be performed more effectively.

  Further, in the present embodiment, the engine ECU 17 performs power supply control to the non-traveling electric device, and the electric braking ECU 33 performs operation control of the electric brake device (anti-lock operation unit and interlocking braking unit). The ECUs 17 and 33 operate independently of each other. However, the present invention is not limited to this as long as the above control can be performed. For example, the control may be performed by only one of the ECUs. It is good also as controlling in coordination.

  The motorcycle according to the present invention is an electric brake even when the voltage of a power storage device such as a battery drops in a motorcycle equipped with an electric brake device, particularly a tourer type or cruiser type motorcycle equipped with electrical components with high power consumption. Useful for lengthening the operational period of the device.

1 Motorcycle 2 Front Wheel 3 Rear Wheel 4 Front Fork 5 Head Pipe 6 Handle 7 Throttle Grip 8 Clutch Lever 9 Main Frame 10 Pivot Frame 11 Swing Arm 12 Fuel Tank 13 Seat 14 Transmission 15 Step 16 Throttle Device 17 Engine ECU
19 Air Cleaner 20 Intake Pipe 21 Main Throttle Valve 22 Sub Throttle Valve 23 Throttle Wire 24 Valve Actuator 25 Throttle Position Sensor 26 Ignition Device 27 Clutch 28 Clutch Switch 29 Gear Position Sensor 30 Engine Speed Sensor 31 Injector 33 Electric Braking ECU
34 front wheel vehicle speed sensor 35 rear wheel vehicle speed sensor 36 front wheel brake 36A front wheel brake disc 36B front wheel brake caliper 37 front wheel brake master cylinder 38 rear wheel brake 38A rear wheel brake disc 38B rear wheel brake caliper 39 rear wheel brake master cylinder 41 engine control unit 42 Ignition control unit 43 Throttle control unit 44 Operation control unit (anti-lock operation unit and interlock braking unit power supply controller)
48 Fuel control unit 49 Power supply control unit (power supply controller)
50 Display device 51 Battery (power storage device)
52a, 52b Voltage detector 53 Ignition switch 54 Illuminator 55 External accessory terminal 56 Grip heater 57 Electric windshield 58 Audio 59 Brake lever 60 Brake pedal 61 Rear wheel side first control valve (electric brake device)
62 Rear wheel side second control valve (electric brake device)
63 Rear wheel side oil pump 64 Rear wheel side one-way valve 65 Rear wheel side reservoir 66 Brake motor (electric brake device)
67 Front wheel side first control valve (electric brake device)
68 Front wheel side second control valve (electric brake device)
69 Front wheel side oil pump 70 Front wheel side one-way valve 71 Front wheel side reservoir 81 Rear wheel side main oil path 82 Rear wheel side pressure reducing oil path 83 Rear wheel side pressure oil path 84 Front wheel side main oil path 85 Front wheel side pressure reducing oil path 86 Front wheel Side pressurized oil passage 501 ABS warning light (indicator)
E engine

Claims (8)

A power storage device that supplies power to a traveling system device and a non-traveling system device that are necessary for traveling, and
A voltage detector for detecting the voltage of the power storage device;
A power supply controller,
The non-running system device includes an electric brake device that assists braking by electric drive, and a non-running system electric device other than the electric brake device,
The power supply controller supplies power to at least one predetermined other non-traveling electric device when the voltage of the power storage device detected by the voltage detector is equal to or lower than a predetermined first voltage. A motorcycle that shuts off. The electric brake device includes an anti-lock operation unit that repeats a braking state and a non-braking state, and an interlock that generates a braking force on either one of the front and rear wheels when the braking force is generated on either one of the front and rear wheels. A braking part,
The motorcycle according to claim 1, wherein the power supply controller restricts the operation of the interlock braking unit when the voltage of the power storage device detected by the voltage detector becomes equal to or lower than a predetermined second voltage. .   The motorcycle according to claim 2, wherein the first voltage is equal to or higher than the second voltage. The electric brake device has a normal voltage mode and a low voltage mode operable at a voltage lower than the normal voltage mode,
When the voltage of the power storage device detected by the voltage detector becomes equal to or lower than a third voltage that is equal to or lower than the first voltage, the power supply controller moves the electric brake device from the normal voltage mode to the normal voltage mode. The motorcycle according to any one of claims 1 to 3, wherein the motorcycle is switched to a low voltage mode. The electric brake device includes an anti-lock operation unit that repeats a braking state and a non-braking state, and an interlock that generates a braking force on either one of the front and rear wheels when the braking force is generated on either one of the front and rear wheels. A braking part,
The anti-lock operation unit has a normal voltage mode and a low voltage mode operable at a voltage lower than the normal voltage mode,
When the voltage of the power storage device detected by the voltage detector is equal to or lower than a predetermined second voltage, the power supply controller limits the operation of the interlocking braking unit and is detected by the voltage detector. 5. The anti-lock operation unit is switched from the normal voltage mode to the low voltage mode when the voltage of the power storage device is equal to or lower than a third voltage that is equal to or lower than the second voltage. Motorcycle described in 1.   6. The motorcycle according to claim 2, wherein the anti-lock operation unit continues the low voltage mode until the ignition switch is turned off after switching to the low voltage mode.   The motorcycle according to claim 6, further comprising a display for notifying that the anti-lock operation unit is in the low voltage mode when the anti-lock operation unit is in the low voltage mode. An electric brake device that supports braking by electric drive;
A power storage device for supplying electric power to the electric brake device;
A voltage detector for detecting the voltage of the power storage device;
A power supply controller,
The electric brake device includes an anti-lock operation unit that repeats a braking state and a non-braking state, and an interlock that generates a braking force on either one of the front and rear wheels when the braking force is generated on either one of the front and rear wheels. A braking part,
The electric power supply controller is a motorcycle that restricts the operation of the interlock braking unit when the voltage of the power storage device detected by the voltage detector becomes equal to or lower than a predetermined second voltage.

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